Revision 8cee904f

View differences:

Adafruit_BNO055.cpp
62 62 
  if(id != BNO055_ID)
63 63 
  {
64 64 
    delay(1000); // hold on for boot
65 
    id = read8(BNO055_CHIP_ID_ADDR);
65 66 
    if(id != BNO055_ID) {
66 67 
      return false;  // still not? ok bail
67 68 
    }
......
320 321 
  z = (((uint16_t)buffer[7]) << 8) | ((uint16_t)buffer[6]);
321 322 

  		




  322
  323
  
    
  /* Assign to Quaternion */


  		




  323
  
  
    
  imu::Quaternion quat((double)w, (double)x, (double)y, (double)z);


  		




  
  324
  
    
  /* See http://ae-bst.resource.bosch.com/media/products/dokumente/bno055/BST_BNO055_DS000_12~1.pdf


  		




  
  325
  
    
     3.6.5.5 Orientation (Quaternion)  */


  		




  
  326
  
    
  const double scale = (1.0 / (1<<14));


  		




  
  327
  
    
  imu::Quaternion quat(scale * w, scale * x, scale * y, scale * z);


  		




  324
  328
  
    
  return quat;


  		




  325
  329
  
    
}


  		




  326
  330
  
    

  		












Also available in:  Unified diff